【摘要】 针对谐波传动系统动力学模型中存在的柔性变形、摩擦和运动误差等非线性因素。为了提高系统的传动精度，针对系统非线性刚度和静态误差因素进行了建模，并提出了一种Back-stepping滑模控制方法。利用Lyapunov稳定性理论，证明了闭环系统的误差是一致有界的。仿真结果表明，与PID控制相比，采用Back-stepping滑模控制，系统传动误差曲线峰峰值减小66.63%;负载端角速率误差曲线峰峰值减小77.35%。Back-stepping滑模控制能有效地补偿系统传动误差，抑制其负载端的速度波动，提高了系统的传动精度。更多还原

【Abstract】 Aiming at the nonlinear factors such as flexible deformation, friction and motion error in the dynamic model of harmonic transmission system, in order to improve the transmission accuracy of the system, the nonlinear stiffness and static error factors of the system are modeled, and a Back-stepping sliding mode control method is proposed in this paper. Using Lyapunov stability theory, it is proved that the error of the closed-loop system is uniformly bounded. The simulation results show that compared with PID control, the peak-peak value of the transmission error curve of the system is reduced by 66.63% with the Back-stepping sliding mode control; The peak-peak value of the angular rate error curve at the load end is reduced by 77.35%. Back stepping sliding mode control can effectively compensate the transmission error of the system, suppress the speed fluctuation at the load end, and improve the transmission accuracy of the system.更多还原